Adaptive Backstepping Sliding Mode Control of Torpedo Steering Servo Control System Based on LuGre Friction Model
ZHANG Meng
QIAO Xiaojun
FENG Dianzhen
Abstract：Adaptive backstepping sliding mode control is presented to reduce the influence of friction torque on the accu -racy of the torpedo steering servo control system .With the principle of servo system and LuGre model analyzing ,friction torque is modeled .With synovial control and inversion method ,the adaptive backstepping sliding mode control (ABSM ) is promoted .The simulation contrast experiment of ABSM controller and PID controller is raised ,which gives the result that the ABSM controller enhances the robustness of the system and greatly improves the control precision .
Keywords：adaptive backstepping sliding mode controlthe torpedo steering servo control systemfriction torque
Publication Date：2016-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：4( 54-57 )